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WIP: Parallel planning with moveit_cpp / path quality improvement guide #493

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WIP: Parallel planning with moveit_cpp / path quality improvement guide #493

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5fa6344
First demo and tests
sjahr Jul 5, 2022
45362b3
Add path length evaluation function
sjahr Jul 5, 2022
ddd24a8
Add difficult collision object
sjahr Jul 5, 2022
62797f0
Better rviz config
sjahr Jul 5, 2022
712418a
Reorder experiments
sjahr Jul 5, 2022
5444521
Fix cart. orientation and add visiual text before each experiment
sjahr Jul 6, 2022
029caa5
Add config for multi-pipeline planning
sjahr Jul 13, 2022
b108b0e
Add tutorial description and experiments
sjahr Jul 15, 2022
c9003a9
Debug print + disable execution + clear up launch config
sjahr Aug 15, 2022
31a64b1
Cleanup config
sjahr Aug 15, 2022
2ec278d
Cleanup + RVIZ config
sjahr Aug 17, 2022
a5d3867
Change upstream dependency so branch builds
sjahr Aug 31, 2022
bf39c54
Adjust to moveit_cpp changes
sjahr Sep 29, 2022
1b2b00b
Switch back to moveit2 main
sjahr Nov 8, 2022
88b6660
Make compile
sjahr Nov 22, 2022
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@ add_subdirectory(doc/examples/planning_scene_ros_api)
add_subdirectory(doc/examples/planning_scene)
add_subdirectory(doc/examples/realtime_servo)
add_subdirectory(doc/how_to_guides/using_ompl_constrained_planning)
add_subdirectory(doc/how_to_guides/create_better_paths)
add_subdirectory(doc/examples/robot_model_and_robot_state)
add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor)
add_subdirectory(doc/tutorials/quickstart_in_rviz)
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13 changes: 13 additions & 0 deletions doc/how_to_guides/create_better_paths/CMakeLists.txt
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@@ -0,0 +1,13 @@
add_executable(better_paths_demo src/better_paths_main.cpp)
target_include_directories(better_paths_demo PUBLIC include)
ament_target_dependencies(better_paths_demo ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)

install(TARGETS better_paths_demo
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
)
install(DIRECTORY config
DESTINATION share/${PROJECT_NAME}
)
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